Robot Path Planning Based on an Improved Multi-Objective PSO Method

DOI

10.2991/iccia-16.2016.82How to use a DOI?

Keywords

Multi-objective evolutionary algorithm; SPEA2; Robot path planning; PSO.

Abstract

Robot path planning is an important content in the field of robot research. Robot Path Planning is a typical multi-objective optimization problem. The path length, the degree of path smoothness and the degree of security are the optimization objectives in this work. And an improved multi-objective PSO method is used for optimization. In this method, in order to make the particle population multi-objective particle swarm optimization algorithm can quickly converge to the Pareto optimal boundary, an environment selection and a matching selection strategy are proposed. At each iteration of the algorithm, in order to improve the population information exchange and reduce the randomness, the environmental selection and matching selection strategy of SPEA2 are used for multi-objective PSO method, and the particle population can faster convergence to the Pareto optimal boundary. The simulation results verify the method, and the result of proposed method is better than that of multi-objective PSO method, and the simulations indicates that the proposed model is practical for robot path planning.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Li Di
AU  - Zheng Zheng
AU  - Meng Xia
AU  - Min Xia
PY  - 2016/09
DA  - 2016/09
TI  - Robot Path Planning Based on an Improved Multi-Objective PSO Method
BT  - Proceedings of the 2016 International Conference on Computer Engineering, Information Science & Application Technology (ICCIA 2016)
PB  - Atlantis Press
SP  - 443
EP  - 448
SN  - 2352-538X
UR  - https://doi.org/10.2991/iccia-16.2016.82
DO  - 10.2991/iccia-16.2016.82
ID  - Di2016/09
ER  -